Moving Average Filter (S-Curve)
A moving average filter is available for discrete motion profiles. To use the moving average filter, it must first be enabled in the Hardware Configuration on the axis configuration tab as shown below. The filter time constant can also be specified there, or via MC_WriteParameter .
Once the moving average filter is enabled in the Hardware Configuration, it can be changed in the application program using MC_WriteBoolParameter and read using MC_ReadBoolParameter . Use MC_ReadParameter and MC_WriteParameter to set or read the moving average filter timeconstant (parameter 1301.) The range of the Moving Average Filter Time constant is 0.0 to 5.0 seconds (0 excluded).
The moving average filter range is 0 to 5 seconds. (0 excluded).
The total move time will be extended by the time of the filter.
An example of a move profile with the Moving Average Filter applied is explained below. The effect of a 0.05 second moving average filter. The filtered profile tracks the trapezoidal profile with a delay of 50 ms.
Notes
- The Moving Average Filter Time Constant parameter (1301) can be changed only after the current moving average time constant has been processed by the motion profiler. For example, if parameter 1301 is set to 2.0 s using MC_WriteParameter at time instant 't', the next change to 1301 can be made only after time instant 't+2.0'. If an attempt to change it sooner is made, MC_WriteParameter will output ErrorID 4675.
- An example of a 0.5 s filter implementation is shown below. The prefilter commanded velocity is from parameter 1011 and the post filter commanded velocity is from parameter 1021.
